#include "strat.h"
#include "strat_utils.h"
#include "strat_base.h"
+#include "strat_db.h"
#include "strat_corn.h"
#include "i2c_protocol.h"
#include "actuator.h"
gen.logs[NB_LOGS] = E_USER_STRAT;
if (!strcmp_P(res->debug, PSTR("debug"))) {
- strat_infos.dump_enabled = 1;
+ strat_db.dump_enabled = 1;
gen.log_level = 5;
}
else {
- strat_infos.dump_enabled = 0;
+ strat_db.dump_enabled = 0;
gen.log_level = 0;
}
}
}
else {
+#ifdef HOST_VERSION
+#define PWM_INTERACT 300
+#else
+#define PWM_INTERACT 1200
+#endif
switch(cmd) {
case KEY_UP_ARR:
- pwm_set_and_save(LEFT_PWM, 1200);
- pwm_set_and_save(RIGHT_PWM, 1200);
+ pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
break;
case KEY_LEFT_ARR:
- pwm_set_and_save(LEFT_PWM, -1200);
- pwm_set_and_save(RIGHT_PWM, 1200);
+ pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
break;
case KEY_DOWN_ARR:
- pwm_set_and_save(LEFT_PWM, -1200);
- pwm_set_and_save(RIGHT_PWM, -1200);
+ pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
break;
case KEY_RIGHT_ARR:
- pwm_set_and_save(LEFT_PWM, 1200);
- pwm_set_and_save(RIGHT_PWM, -1200);
+ pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
break;
}
}
struct cmd_cobboard_setmode1_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("init")))
- i2c_cobboard_mode_init();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
else if (!strcmp_P(res->arg1, PSTR("eject")))
- i2c_cobboard_mode_eject();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ else if (!strcmp_P(res->arg1, PSTR("kickstand")))
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
}
prog_char str_cobboard_setmode1_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
-prog_char str_cobboard_setmode1_arg1[] = "init#eject";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
};
/* function called when cmd_cobboard_setmode2 is parsed successfully */
-static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
+static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
{
struct cmd_cobboard_setmode2_result *res = parsed_result;
uint8_t side = I2C_LEFT_SIDE;
else if (!strcmp_P(res->arg2, PSTR("right")))
side = I2C_RIGHT_SIDE;
- if (!strcmp_P(res->arg1, PSTR("deploy")))
- i2c_cobboard_mode_deploy(side);
- else if (!strcmp_P(res->arg1, PSTR("harvest")))
- i2c_cobboard_mode_harvest(side);
- else if (!strcmp_P(res->arg1, PSTR("pack")))
- i2c_cobboard_mode_pack(side);
+ if (!strcmp_P(res->arg1, PSTR("deploy"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_deploy(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_autoharvest(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("pack"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_pack(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("pack_weak"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_pack_weak(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_deploy_nomove(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_autoharvest_nomove(side);
+ }
}
prog_char str_cobboard_setmode2_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
-prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#pack_weak#harvest_nomove#deploy_nomove";
parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
prog_char str_cobboard_setmode2_arg2[] = "left#right";
parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
printf_P(PSTR("status = %x\r\n"), ballboard.status);
printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
+ printf_P(PSTR("lcob = %d\r\n"), ballboard.lcob);
+ printf_P(PSTR("rcob = %d\r\n"), ballboard.rcob);
#endif
}
},
};
+/**********************************************************/
+/* Time_Monitor */
+
+/* this structure is filled when cmd_time_monitor is parsed successfully */
+struct cmd_time_monitor_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_time_monitor is parsed successfully */
+static void cmd_time_monitor_parsed(void *parsed_result, void *data)
+{
+#ifndef HOST_VERSION
+ struct cmd_time_monitor_result *res = parsed_result;
+ uint16_t seconds;
+
+ if (!strcmp_P(res->arg1, PSTR("reset"))) {
+ eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
+ }
+ seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+ printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+#endif
+}
+
+prog_char str_time_monitor_arg0[] = "time_monitor";
+parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
+prog_char str_time_monitor_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
+
+prog_char help_time_monitor[] = "Show since how long we are running";
+parse_pgm_inst_t cmd_time_monitor = {
+ .f = cmd_time_monitor_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_time_monitor,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_time_monitor_arg0,
+ (prog_void *)&cmd_time_monitor_arg1,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Strat_Event */
+
+/* this structure is filled when cmd_strat_event is parsed successfully */
+struct cmd_strat_event_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_event is parsed successfully */
+static void cmd_strat_event_parsed(void *parsed_result, void *data)
+{
+ struct cmd_strat_event_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("on")))
+ strat_event_enable();
+ else
+ strat_event_disable();
+}
+
+prog_char str_strat_event_arg0[] = "strat_event";
+parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
+prog_char str_strat_event_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
+
+prog_char help_strat_event[] = "Enable/disable strat_event callback";
+parse_pgm_inst_t cmd_strat_event = {
+ .f = cmd_strat_event_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_strat_event,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_strat_event_arg0,
+ (prog_void *)&cmd_strat_event_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Sleep */
+
+/* this structure is filled when cmd_sleep is parsed successfully */
+struct cmd_sleep_result {
+ fixed_string_t arg0;
+ uint32_t ms;
+};
+
+/* function called when cmd_sleep is parsed successfully */
+static void cmd_sleep_parsed(void *parsed_result, void *data)
+{
+ struct cmd_sleep_result *res = parsed_result;
+ time_wait_ms(res->ms);
+}
+
+prog_char str_sleep_arg0[] = "sleep";
+parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
+parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
+
+prog_char help_sleep[] = "Sleep during some miliseconds";
+parse_pgm_inst_t cmd_sleep = {
+ .f = cmd_sleep_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_sleep,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_sleep_arg0,
+ (prog_void *)&cmd_sleep_ms,
+ NULL,
+ },
+};
+
+
/**********************************************************/
/* Test */
int32_t dist;
};
-#if 0
-static void reverse_line(struct line_2pts *l)
-{
- point_t tmp;
-
- tmp.x = l->p1.x;
- tmp.y = l->p1.y;
- l->p1.x = l->p2.x;
- l->p1.y = l->p2.y;
- l->p2.x = tmp.x;
- l->p2.y = tmp.y;
-}
-#endif
-
/* function called when cmd_test is parsed successfully */
static void cmd_test_parsed(void *parsed_result, void *data)
{
- uint8_t err;
-
-#ifdef HOST_VERSION
- strat_reset_pos(298.48, COLOR_Y(309.21),
- COLOR_A(70.02));
- mainboard.angle.on = 1;
- mainboard.distance.on = 1;
- strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
- init_corn_table(0, 0);
- time_wait_ms(100);
-
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
- err = line2line(LINE_R_UP, 2, LINE_UP, 5);
- trajectory_hardstop(&mainboard.traj);
-
- /* ball ejection */
- trajectory_a_abs(&mainboard.traj, COLOR_A(90));
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
- time_wait_ms(2000);
-
- /* half turn */
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
- i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
- trajectory_a_rel(&mainboard.traj, COLOR_A(180));
- err = wait_traj_end(END_INTR|END_TRAJ);
-
- /* cob ejection */
- trajectory_d_rel(&mainboard.traj, -100);
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_eject();
- time_wait_ms(2000);
+ strat_db.dump_enabled = 1;
+ strat_db_dump(__FUNCTION__);
+
+ corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
+ strat_db_dump(__FUNCTION__);
+
+ corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
+ corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
+ corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
}
prog_char str_test_arg0[] = "test";
NULL,
},
};
+
+
+
+
+/**********************************************************/
+/* Climb */
+
+/* this structure is filled when cmd_climb is parsed successfully */
+struct cmd_climb_result {
+ fixed_string_t arg0;
+ int32_t radius;
+ int32_t dist;
+};
+
+
+//#define DIM_BALLS_DOWN 620
+//#define DIM_BALLS_UP 700
+
+#define DIM_BALLS_DOWN 530
+#define DIM_BALLS_UP 700
+
+/* function called when cmd_climb is parsed successfully */
+static void cmd_climb_parsed(void *parsed_result, void *data)
+{
+ uint8_t err;
+
+ printf_P(PSTR("starting Clifenger\r\n"));
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW );
+
+ trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+ trajectory_a_abs(&mainboard.traj, 0);
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+
+
+ trajectory_goto_xy_abs(&mainboard.traj, 1250, 250);
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF);
+ printf_P(PSTR("ball_pack\r\n"));
+ support_balls_pack();
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF);
+ printf_P(PSTR("ball_deploy\r\n"));
+ support_balls_deploy();
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ /* reach top, go down */
+ trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_UP, 0xFF);
+ printf_P(PSTR("ball_pack\r\n"));
+ support_balls_pack();
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_DOWN, 0xFF);
+ printf_P(PSTR("ball_deploy\r\n"));
+ support_balls_deploy();
+
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+}
+
+prog_char str_climb_arg0[] = "climb";
+parse_pgm_token_string_t cmd_climb_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_climb_result, arg0, str_climb_arg0);
+parse_pgm_token_num_t cmd_climb_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, radius, INT32);
+parse_pgm_token_num_t cmd_climb_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, dist, INT32);
+
+prog_char help_climb[] = "Climb function";
+parse_pgm_inst_t cmd_climb = {
+ .f = cmd_climb_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_climb,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_climb_arg0,
+ NULL,
+ },
+};